function [DesPosition,DesAttitude] = quadrotor_desiredtrajectory(t)

A = 2; w = 2*pi/40; a = deg2rad (5);

%% Desire of Position
Xd = A*cos(w*t);
Yd = A*sin(w*t);
Zd = t/10;

Xd_dot = -A*w*sin(w*t);
Yd_dot = A*w*cos(w*t);
Zd_dot = 1/10;

Xd_2dot = -A*w*w*cos(w*t);
Yd_2dot = -A*w*w*sin(w*t);
Zd_2dot = 0;

%% Desire of Attitude
PHId   = 0;
THETAd = 0;
PSId   = a*sin(w*t);

PHId_dot   = 0;
THETAd_dot = 0;
PSId_dot   = a*w*cos(w*t);

PHId_2dot   = 0;
THETAd_2dot = 0;
PSId_2dot   = -a*w*w*sin(w*t);

DesAttitude = [PHId;   PHId_dot;   PHId_2dot;
               THETAd; THETAd_dot; THETAd_2dot;
               PSId;   PSId_dot;    PSId_2dot];
DesPosition = [Zd; Zd_dot; Zd_2dot;
               Xd; Xd_dot; Xd_2dot;
               Yd; Yd_dot; Yd_2dot];


